Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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Revision A4 www.controltechniques.com
value should go in the OffPosn.
If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be active whenever the axis is not
between the On and Off positions, and inactive whenever the axis is between the two positions. However, the PLS.#.Status
will not turn on until it reaches the OnPosn the first time.
PLS Enable
PLS.#.PLSEnable
This destination is used to enable an individual PLS. A PLS can be enabled though the Assignments view in PowerTools Pro
or from a program. If enabled, the PLS will begin to function as soon as the drive has been homed or a DefineHome
destination has been activated. Master Posn Valid must be active (Master Define Home is activated) if using a master position
feedback signal for PLS source.
PLS Rollover Enable
PLS.#.RotaryRolloverEnable
This parameter is used to enable the RotaryRolloverPosn for the individual PLS.
PLS Rollover Position
PLS.#.RotaryRolloverPosn
This parameter is the absolute position of the first repeat position for this PLS. When enabled it causes the PLS to repeat
every time this distance is passed. The repeating range begins at an absolute position of zero and ends at the
RotaryRolloverPosn. For example in a rotary application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn
of 100 degrees. If the RotaryRolloverPosition is set to 360 degrees the PLS would come on at 90, go off at 100, go on at 450
(360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off at 820 (2*360+100), and continue repeating every 360
degrees forever.
PLS Source
PLS.#.Source
PLSs can be assigned to four different sources: MotorPosnFeedback, MotorPosnCommand, MasterPosnFeedback, or
FreeRunTime. This parameter determines which signal the PLS uses to reference its On Position and Off Position in order to
determine the PLS.#.Status parameter.
PLS Status
PLS.#.Status
This source is active when the position of the PLS source is greater than or equal to the On Position and less than the Off
Position.
Positive Direction
PositiveDirection
This bit is used to select which direction of motor rotation is considered motion in the positive direction. Select from CW or
CCW.
Position Command
PosnCommand
Position command is the commanded position based on information entered into the application. This parameter does not take
following error into account. See also PosnFeedback and FollowingError. Units are in user units.
Position Error Integral Time Constant
PosnErrorIntegralTimeConst
Position Error Integral parameter is a control term, which can be used in Pulse mode to compensate for the continuous torque
required to hold a vertical load against gravity or to minimize following error.
The user configures this control term using the “Position Error Integral Time Constant” parameter. This parameter determines
how quickly the drive will correct for in-position following error. The time constant is in milliseconds and defines how long it will
take to decrease the following error to 37 percent of the original value. In certain circumstances the value actually used by the
drive will be greater than the value specified here.
Min Time Constant = 1000/Response
For example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20 msec.